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  1. checkpoints_stage2_moe_full_peg_only/architecture.txt +10 -0
  2. checkpoints_stage2_moe_full_peg_only/moe_router_entropy.csv +17 -0
  3. checkpoints_stage2_moe_full_peg_only/moe_router_weights.csv +65 -0
  4. checkpoints_stage2_moe_full_peg_only/tensorboard/events.out.tfevents.1776852769.praise-5080.2844183.0 +3 -0
  5. checkpoints_stage2_moe_full_peg_only/train_config.json +59 -0
  6. checkpoints_stage2_moe_full_unfreeze/action_mean.npy +3 -0
  7. checkpoints_stage2_moe_full_unfreeze/action_std.npy +3 -0
  8. checkpoints_stage2_moe_full_unfreeze/architecture.txt +10 -0
  9. checkpoints_stage2_moe_full_unfreeze/best.pt +3 -0
  10. checkpoints_stage2_moe_full_unfreeze/latest.pt +3 -0
  11. checkpoints_stage2_moe_full_unfreeze/moe_router_entropy.csv +26 -0
  12. checkpoints_stage2_moe_full_unfreeze/moe_router_weights.csv +101 -0
  13. checkpoints_stage2_moe_full_unfreeze/tensorboard/events.out.tfevents.1776640393.praise-5080.2198461.0 +3 -0
  14. checkpoints_stage2_moe_full_unfreeze/train_config.json +59 -0
  15. checkpoints_stage2_moe_text_unfreeze/action_mean.npy +3 -0
  16. checkpoints_stage2_moe_text_unfreeze/action_std.npy +3 -0
  17. checkpoints_stage2_moe_text_unfreeze/architecture.txt +10 -0
  18. checkpoints_stage2_moe_text_unfreeze/best.pt +3 -0
  19. checkpoints_stage2_moe_text_unfreeze/latest.pt +3 -0
  20. checkpoints_stage2_moe_text_unfreeze/moe_router_entropy.csv +21 -0
  21. checkpoints_stage2_moe_text_unfreeze/moe_router_weights.csv +81 -0
  22. checkpoints_stage2_moe_text_unfreeze/tensorboard/events.out.tfevents.1776638724.praise-5080.2184587.0 +3 -0
  23. checkpoints_stage2_moe_text_unfreeze/train_config.json +59 -0
  24. checkpoints_stage2_no_moe_unfreeze/action_mean.npy +3 -0
  25. checkpoints_stage2_no_moe_unfreeze/action_std.npy +3 -0
  26. checkpoints_stage2_no_moe_unfreeze/architecture.txt +10 -0
  27. checkpoints_stage2_no_moe_unfreeze/best.pt +3 -0
  28. checkpoints_stage2_no_moe_unfreeze/latest.pt +3 -0
  29. checkpoints_stage2_no_moe_unfreeze/tensorboard/events.out.tfevents.1776637048.praise-5080.2170321.0 +3 -0
  30. checkpoints_stage2_no_moe_unfreeze/train_config.json +59 -0
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+ "freeze_vision": true,
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+ "freeze_text": true,
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+ "unfreeze_vision_last_n_layers": 2,
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+ "unfreeze_text_last_n_layers": 2,
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+ "fusion_type": "cross_attn",
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+ "proj_dim": 512,
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+ "fusion_hidden_dim": 1024,
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+ "fusion_out_dim": 512,
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+ "fusion_num_layers": 3,
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+ "fusion_num_heads": 8,
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+ "fusion_dropout": 0.1,
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+ "normalize_embeddings": true,
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+ "action_head_type": "mlp",
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+ "action_mlp_hidden_dim": 512,
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+ "action_mlp_layers": 2,
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+ "action_mlp_dropout": 0.1,
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+ "moe_num_experts": 4,
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+ "moe_hidden_dim": 512,
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+ "moe_load_balance_weight": 0.01,
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+ "router_condition": "text",
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+ "act_chunk_size": 8,
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+ "act_num_layers": 2,
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+ "act_dropout": 0.1,
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+ "use_geometry_features": true,
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+ "geometry_dim": 6,
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+ "temporal_context": 4,
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+ "action_dim": 4,
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+ "num_workers": 8,
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+ "normalize_action_targets": true,
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+ "action_norm_eps": 1e-06,
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+ "learnable_action_scale": true,
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+ "action_scale_init": 1.0,
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+ "loss_type": "huber",
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+ "huber_delta": 0.5,
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+ "epochs": 80,
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+ "batch_size": 32,
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+ "grad_accum_steps": 2,
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+ "learning_rate": 5e-05,
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+ "weight_decay": 0.01,
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+ "grad_clip_norm": 1.0,
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+ "use_fp16": true,
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+ "early_stopping_patience": 8,
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+ "early_stopping_min_delta": 0.0005,
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+ "seed": 42,
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+ "device": "cuda",
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+ "out_dir": "checkpoints_stage2_no_moe_unfreeze",
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+ "save_best_by_val": true
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+ }